5-23
(B) Automatic gain 1& 2 switching
Selection of Automatic gain 1& 2 switch with different P&I Gains is possible by setting
Parameter Cn 015.1 to one of the selections listed in the table below.
Parameter Cn 020 can be use for setting a switch delay time between different gains. (Gain 1 and
2)
Parameter Name Setting Description
Control
Mode
0
Switch from gain 1 to 2 if torque command is greater
than Cn021.
1
Switch from gain 1 to 2 if speed command is greater
than Cn022.
2
Switch from gain 1 to 2 if acceleration command is
greater than Cn023.
3
Switch from gain 1to2 if position error value is
greater than Cn024.
Cn015.1
Automatic
gain 1& 2
switch
4
Switch from gain 1 to 2 by input contact G-SEL. Set
one of the multi function terminals to option 15 of
Hn501.
Pi/Pe/S
0 JSDAP new automatic gain proportion
Cn015.3
Automatic gain
proportion
switch
1 JSDAP old automatic gain proportion
ALL
Parameter Name Default Unit Setting Range
Control
Mode
Cn020
Automatic gain 1& 2
switch delay time.
0 x0.2 msec 0~10000 Pi/Pe/S
Cn021
Automatic gain 1& 2
switch condition
(torque command)
200 % 0~399 Pi/Pe/S
Cn022
Automatic gain 1& 2
switch condition
(speed command)
0 rpm 0~4500 Pi/Pe/S
Cn023
Automatic gain 1& 2
switch condition
(acceleration
command)
0 rps/s 0~18750 Pi/Pe/S
Cn024
Automatic gain 1& 2
switch condition
(position error value)
0 pulse 0~50000 Pi/Pe/S
Note: Gain 1: is consisted of Pn 310 (position loop gain 1), Sn211(speed loop gain 1 ) and
Sn212 (Speed loop integral time 1).
Gain 2: is consisted of Pn 311 (position loop gain 2), Sn213(speed loop gain 2) and
Sn214 (Speed loop integral time 2 ).
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